Imaging method and imaging system for surgical implantation

This application claims priority to Chinese Patent Application No. 202210389241.4, filed on Apr. 14, 2022 and entitled “IMAGING METHOD AND IMAGING SYSTEM FOR SURGICAL IMPLANTATION”, which is incorporated herein by reference in its entirety.

The present application relates to the field of surgical imaging, and in particular, to an imaging method and an imaging system for surgical implantation.

Existing electron microscopes for spine surgery require a very short working distance between the surgical field and the microscope objective lens during spine surgery. This results in an uncomfortable viewing angle for the entire surgical team and limited visualization of the surgery. The short working distance and uncomfortable viewing angle also limit the free movement of surgical tools, hindering surgery. As the surgery progresses, the observation axis needs to be adjusted to visualize different parts of the surgical cavity. This process of adjusting the visualization axis is often cumbersome, and most of the time, the surgeon is unable to achieve an optimal setting, exacerbating visualization problems within the surgical cavity. Therefore, there is an urgent need to solve these problems.

In view of this, the present application provides an imaging method and an imaging system for surgical implantation, which enables the imaging device to perform imaging away from the working area. This is more conducive to the visualization of the surgical cavity by the surgical team, and it is convenient to perform the surgery.

In order to solve the above technical problems, the present application provides an imaging system for surgical implantation.

a support; a mechanical arm, where a first end of the mechanical arm is rotatably connected to the support; an imaging device, where the imaging device is connected to a second end of the mechanical arm, the imaging device rotates freely under the driving of the mechanical arm, and is used to obtain a light signal reflected by an observation object and perform imaging, where the light signal reflected by the observation object is transmitted from a surgical incision to the imaging device through a channel established by the retractor, and a lens of the imaging device may be a combination of an optical zoom camera and a digital zoom camera to achieve a greater magnification; a light source providing device, where one end of the light source providing device is arranged on the support, some or all of the light signals provided by the light source providing device are transmitted to the observation object through the surgical incision, and are reflected by the observation object to the imaging device to assist the imaging device in imaging; and a controller, where the controller is electrically connected to the mechanical arm, the light source providing device, and the imaging device, and the controller obtains a position and a direction of the surgical incision and makes an adjustment to a posture, and adjusts an aerial posture of the mechanical arm according to a position and a direction of a surgical tool, so that the imaging device can accurately obtain the reflected light signal. According to a first aspect, an embodiment of the present application provides an imaging system for surgical implantation, including:

According to the imaging system of the embodiment of the present application, an imaging device is controlled by a mechanical arm, and a light source is provided remotely for the imaging device by using a light source providing device, so that the imaging device can clearly obtain an image of an observation object at a relatively long distance. Compared with the existing microscope, in the present application, the light source is provided closer to the surgical position, and the lighting efficiency is greatly improved, so that the image of the observation object can be clearly obtained when a working distance between the microscope lens and the surgical working area is more than 1 meter, and it is convenient to perform the surgery.

As an embodiment of the first aspect of the present application, the imaging system further includes: a retractor, where the retractor is used for placement within the surgical incision to establish a transmission channel inside and outside the surgical incision; the controller obtains a position and a direction of the retractor and makes an adjustment to a posture, and adjusts an aerial posture of the mechanical arm according to the position and direction of the retractor, so that the imaging device can accurately obtain the reflected light signal from the channel established by the retractor.

As an embodiment of the first aspect of the present application, the imaging device includes: a light filter, where the light filter is used to separate the light signal of a preset wavelength; and an imaging camera, where the imaging camera obtains a wavelength within a preset range, and performs imaging based on the wavelength within the preset range. The light filter in the present application can separate infrared and visible light to achieve imaging in different bands and infrared navigation functions.

As an embodiment of the first aspect of the present application, the mechanical arm has at least six joints to achieve at least six freedom angles of rotation. This structure can implement the free rotation of the mechanical arm in space, avoid the surgical area during adjustment, avoid blocking the line of sight of a surgical operator, and drive the imaging device to better obtain an image of the observation object.

As an embodiment of the first aspect of the present application, the support includes: a fixing frame; and a support frame, where a first end of the support frame is connected to the fixing frame, a second end extends outward toward the side away from the fixing frame, and the second end of the support frame is connected to the mechanical arm, to increase a spatial range that the mechanical arm can reach.

As an embodiment of the first aspect of the present application, the support further includes: a connecting piece, where the connecting piece is fixed on the second end of the support frame, and is used to connect the mechanical arm and the support frame.

As an embodiment of the first aspect of the present application, the light source providing device includes: a light emitting diode LED, where the LED is installed on the fixing frame, a light-emitting surface of the LED and the mechanical arm are located on the same side of the fixing frame, and are used to transmit light to the observation object through the channel established by the retractor.

As an embodiment of the first aspect of the present application, the light source providing device further includes: a light guide, where one end of the light guide is arranged opposite to the LED, and the other end is connected to the retractor, and is used to transmit the light signal emitted by the LED into the retractor, so that the light signal reaches the observation object through the channel. This structure facilitates the introduction of light into the surgical incision and improves the lighting brightness in the surgical incision. In this way, not only it is convenient for the doctor to perform the surgery, but also it is beneficial for the imaging device to clearly obtain the image of the observation object.

As an embodiment of the first aspect of the present application, the imaging system further includes: a display, connected to the controller, and used for displaying the image obtained via the imaging device.

As an embodiment of the first aspect of the present application, there are at least three displays, at least two of the at least three displays are oriented differently, so that the surgical operator can observe the image from different positions, and it is convenient for the surgical team to perform precise operations.

a base, where the support is fixed on the base, and a plurality of rollers are provided below the base. As an embodiment of the first aspect of the present application, the imaging system further includes:

According to a second aspect, the present application further discloses an imaging method for surgical implantation, where the method is applied to an imaging system, the imaging system includes: a mechanical arm, and an imaging device connected to the mechanical arm, and a controller electrically connected to the mechanical arm and the imaging device, and the method includes: obtaining, by the controller, a position and a direction of a retractor; adjusting, by the controller, a position and a direction of the mechanical arm according to the position and the direction of the retractor, so that an obtaining end of the imaging device is aligned with a channel established by the retractor; where the retractor is used to establish a channel to assist the imaging device in imaging; and obtaining, by the imaging device, a light signal reflected by the observation object through the channel, and performing imaging by using the reflected light signal.

According to the imaging method of the embodiment of the present application, a mechanical arm is controlled to drive an imaging device to obtain an image of an observation object, and a light source providing device remotely provides a light source for the imaging device, so that the imaging device can clearly obtain an image of the observation object at a long distance. Compared with the existing microscope, in the present application, the light source is provided closer to the surgical position, and the lighting efficiency is greatly improved, so that the image of the observation object can still be clearly obtained when a working distance between the microscope lens and the surgical working area is more than 1 meter, and it is convenient to perform the surgery.

As an embodiment of the second aspect of the present application, the imaging method further includes: obtaining, by the imaging device, a light signal of a preset wavelength from the reflected light signal, and performing imaging based on the light signal of the preset wavelength.

As an embodiment of the second aspect of the present application, the imaging system further includes a light source provider, and the light source provider emits a light signal and transmits some or all of the optical signals through the channel to the observation object, so that the imaging device obtains the light signal reflected by the observation object.

As an embodiment of the second aspect of the present application, the imaging system further includes a plurality of displays, and interface orientations of the plurality of displays have at least two or more orientations, and the method further includes: obtaining, by the controller, imaging data obtained by the imaging device, and sending the imaging data to the plurality of displays, so that the plurality of displays with different orientations display the image corresponding to the observation object.

The beneficial effects of the above technical solution of the present application are as follows:

According to the imaging system for surgical implantation according to the embodiment of the present application, by providing a mechanical arm, an imaging device, and a controller, and a connection relationship between various components, according to the imaging system according to the embodiment of the present application, the imaging device is controlled by the mechanical arm, and a light source providing device remotely provides a light source for the imaging device, so that the imaging device can clearly obtain an image of the observation object at a relatively long distance. Compared with the existing microscope, in the present application, the light source is provided closer to the surgical position, and the lighting efficiency is greatly improved, so that the image of the observation object can still be clearly obtained when a working distance between the microscope lens and the surgical working area is more than 1 meter, and it is convenient to perform the surgery.

100 Imaging systemfor surgical implantation; 10 11 2 13 Support; fixing frame; connecting piece; support frame; 20 21 Mechanical arm; joint; 30 31 32 Retractor, first channel, second channel; 40 Imaging device; 50 Controller; 61 62 63 First display; second display; third display; 70 Light-emitted diode; 80 81 Base; roller.

In order to make the objective, technical solution, and advantages of the embodiments of the present application clearer, the technical solution of the embodiments of the present application is clearly and completely described below with reference to the drawings of the embodiment of the present application. Obviously, the described embodiments are some embodiments of the present application, not all of the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by a person having ordinary skill in the art in the art belong to the scope of protection of the present application.

In order to facilitate the understanding of the technical solution of the present application, the technical problem to be solved by the present application is first described.

During surgery, intraoperative imaging, such as C-arm imaging, is often required. Due to the structure and configuration of existing surgical microscopes, the distance between the lens and the surgical area is very short. During surgery, before imaging, the microscope needs to be moved away to perform C-arm imaging; after imaging, the C-arm needs to be moved away, and the microscope needs to be put back. The operation is complicated, and the surgical process is delayed. In addition, because the traditional microscope requires a very short working distance between the surgical area and the microscope objective lens, the intraoperative imaging operation is complicated, the viewing angle of the entire surgical team is uncomfortable, and the visualization of the surgery is limited, affecting the surgical effect.

100 An imaging systemfor surgical implantation according to an embodiment of the present application is described in detail with reference to the accompanying drawings.

1 4 FIGS.- 100 10 20 40 50 As shown in, the imaging systemfor surgical implantation according to an embodiment of the present application includes a support, a mechanical arm, an imaging device, a light source providing device, and a controller.

20 10 40 20 20 40 40 40 30 Specifically, a first end of the mechanical armis rotatably connected to the support, and a second end is connected to the imaging device. When the mechanical armmoves, the mechanical armcan drive the imaging deviceto move, so that the imaging devicecan obtain a light signal reflected by an observation object and perform imaging. The observation object may refer to an internal tissue of a human body, or a surgical tool, etc. The light signal reflected by the observation object is transmitted from a surgical incision (that is, a surgical cavity) to the imaging device. In the embodiment of the present application, the surgical incision can be assisted by using a surgical tool to establish a channel, for example, establish a channel by using a retractor.

10 30 40 40 One end of the light source providing device is arranged on the support, and some or all of the light signals provided by the light source providing device are transmitted to the observation object through the channel established by the retractor(which can be understood as the surgical incision), and are reflected to the imaging deviceby the observation object, so as to assist the imaging devicein imaging.

50 20 40 50 20 50 The controlleris electrically connected to the mechanical arm, the light source providing device, and the imaging device. During the surgery, the controllercontrols the light source providing device to provide the light source. Here, it should be noted that the time for controlling to provide the light source can be before or after the mechanical armadjusts the position. This is not limited herein. In some embodiments, the light source providing device may not be controlled by the controller, for example, may be manually operated, or may be manually operated or may be controlled by the controller.

50 50 30 30 40 The controllerfirst obtains a position and a direction of the surgical incision. For example, the controllercan obtain a position and a direction of the retractor(which can be understood as the position and the direction corresponding to the surgical incision). In the following embodiments, the surgical incision, that is, a channel inside and outside the surgical cavity, is explained by taking the channel established by the retractor as an example. In the present application, the position and the direction of the retractorcan be identified by using the identification method of the prior art, for example, can be identified by a position sensor, or can be identified by using an image obtained by the imaging deviceThis is not limited herein.

50 20 30 40 30 30 20 30 40 The controlleradjusts the position and the direction of the mechanical armaccording to the position and the direction of the retractor, so that the imaging devicecan accurately obtain the light signal reflected from the channel established by the retractor. Therefore, when the position and the direction of the retractorchange, the mechanical armfollows the position and the direction of the retractorto adjust the aerial posture, such as horizontal movement, up and down movement, adjustment of the depression angle and elevation angle, etc. This facilitates the imaging deviceto shoot the observation object, and realizes multi-angle imaging, and it is convenient to perform the surgery.

30 5 7 FIGS.- In the present application, for the specific position and direction identification of the retractor, reference can be made to the prior art. Details are not described herein. The retractor is described in detail in the correspondingin the following embodiments.

100 20 40 20 30 40 20 40 40 According to the imaging systemfor surgical implantation of the embodiment of the present application, the mechanical armand the imaging deviceare provided, the direction and the position of the surgical channel can be adjusted and positioned, and the aerial posture of the mechanical armcan be adjusted by using the position and the posture of the retractor. This facilitates the shooting of the imaging deviceconnected to the mechanical arm, and it is convenient to perform the surgery. In addition, a light source is remotely provided for the imaging deviceby the light source providing device, so that the imaging devicecan clearly obtain the image of the observation object at a longer distance. Compared with the existing microscope, in the present application, the light source is provided closer to the surgical position, and the lighting efficiency is greatly improved, so that the image of the observation object can still be clearly obtained when a working distance between the lens of the microscope and the surgical working area is more than 1 meter, and it is convenient to perform the surgery.

100 30 In one embodiment of the present application, the imaging systemmay include a retractor.

5 7 FIGS.- 30 30 31 30 32 32 31 40 As shown in, the retractormay be a tubular structure, one end of the retractoris a trumpet-shaped structure that spreads outward from the axis. A first channelis provided in the middle of the retractor, and a second channelis provided at the trumpet-shaped end. The second channelis finally connected to the first channel, and the human tissue in the surgical cavity is exposed through the channel, so that the light signal reflected by the observation object (the part of the human tissue and the surgical tool, etc.) is obtained by the imaging device, and it is convenient to perform imaging.

In the above embodiment, the position and the direction of the retractor mentioned may refer to the orientation of the trumpet-shaped end of the retractor, and the relative spatial position of the trumpet-shaped end, or the distance from the support, etc.

30 31 32 31 32 31 5 7 FIGS.- During surgery, the retractorcan be placed in the surgical incision to stretch the incision to form a channel connecting the outside world with the surgical cavity inside the human body, such as the first channeland the second channelshown in. The first channelcan be used as a channel through which the surgical operator performs the operation, and as a channel for the light reflected by the observation object. The second channelcan introduce external light into the first channel, and then the external light

31 40 enters into the surgical incision to illuminate the observation object. The light reflected by the observation object is reflected by the first channeland finally obtained by the imaging device.

32 32 In some embodiments, a plurality of second channelsmay be provided. For example, the description in the present application is based on an example of having two second channels. In other embodiments of the present application, there may also be a plurality of channels, and it is convenient for the light to enter from multiple directions, and illumination is facilitated. This is not limited herein.

1 FIG. 20 21 21 20 As shown in, in one embodiment of the present application, the mechanical armhas at least six joints, and each jointcan rotate freely, so that the mechanical armhas at least six degrees of freedom angles of rotation, shooting is performed more freely, there is no limitation on the surgery, and it is conducive to performing the surgery.

40 According to one embodiment of the present application, the imaging deviceincludes a light filter and an imaging camera. The light filter can obtain the light signal reflected by the observation object and filter out a light signal that meets the preset wavelength in the light signals. For example, the light filter can separate visible light and infrared light, so that the collection of light signals in different bands is implemented, it is convenient to perform imaging according to the band, and it is conducive to implementing optical navigation. It is convenient for long-distance imaging.

40 In an embodiment of the present application, in order to improve the imaging effect of the imaging camera, the imaging camera is a lens with a high magnification. For example, the lens of the imaging camera can be a combination of an optical zoom and a digital zoom camera to achieve a greater magnification, so that within a range of 1 meter, the imaging camera can clearly obtain the image of the observation object. Compared with the prior art, the distance between the lens and the working area can be increased to prevent the imaging devicefrom blocking another necessary intraoperative imaging device (such as a C-arm machine) and the line of sight of the surgical operator, and it is convenient to perform the surgery.

50 50 In one embodiment of the present application, the light source providing device can provide light of variable intensity and can implement remote control. For example, the controlleris connected to the light source providing device, and the remote computer is connected to the controllerthrough a network to implement remote control of the light source intensity.

1 2 FIGS.- 70 10 30 30 As shown in, the light source providing device may include a light emitting diode(Light Emitting Diode, LED) and a light guide (not shown). The LED is mounted on the support, one end of the light guide is arranged opposite to the LED, and the other end is used to connect to the retractor. The light signal emitted by the LED is transmitted to the retractor, so that the light signal reaches the observation object through the channel.

7 FIG. 32 30 30 In an embodiment of the present application, as shown in, the end of the light guide can be connected to the second channel, and the light enters from the trumpet-shaped end of the retractor, exits from the other end, and irradiates the observation object. The inner wall of the retractorcan be an inner surface with high reflective properties, and it is convenient to irradiate the observation object with the light introduced from the light guide.

30 30 30 40 In some embodiments, the light guide can be a fiber optic light guide, and the light emitted by the LED can be collected through the light guide and introduced into the retractor. The inner surface of the retractorhas a highly reflective inner surface, and the light signal introduced by the light guide is transmitted to the observation object through the highly reflective inner surface. Because the light emitted by the LED is a certain distance from the surgical work area, the light emitted by the LED does not affect the surgery, for example, does not produce shadows. In addition, the use of the light guide facilitates introducing a long-distance light source into the retractor, accurately irradiating the observation object with the light source, and facilitates imaging by the imaging device.

1 FIG. 10 11 13 11 13 13 11 11 13 11 20 As shown in, the supportmay include a fixing frameand a support frame. The fixing frameand the support framemay be made of steel. A first end of the support frameis connected to the fixing frameand extends in a direction away from the fixing frame. For example, the support frameis at the farthest end of the fixing frame(corresponding to a second end of the support frame). This structure allows the mechanical armconnected to the second end to cover as large a space range as possible, so as to be away from the surgical area during surgery and avoid blocking the line of sight of the surgical operator.

11 13 The fixing frameand the support framein the present application may be two connected objects or may be integrally formed.

11 13 11 13 20 40 20 When positioning, the approximate position of the fixing frameis first adjusted, and the farthest end of the support frameis turned toward the direction of the operating table (away from the fixing frame), so that the farthest end of the support frameis located above the center line of the operating table (and then directly above the patient), and the farthest end is connected to the mechanical arm, so that the imaging deviceon the mechanical armis located above the patient, and imaging can be easily performed on the observation object.

1 FIG. 12 13 13 20 12 20 21 20 As shown in, a connecting pieceis connected to the farthest end of the support frame, and the support frameis connected to the mechanical armthrough the connecting piece. This structure facilitates the connection of the mechanical armto the support frame, and it is conducive to the movable connection of the jointof the mechanical arm.

1 FIG. 2 FIG. 100 50 50 40 As shown inand, the imaging systemfurther includes a display, and the display is connected to the controller. The controllersends image data of the observation object obtained by the imaging deviceto the display, and the display further displays the image corresponding to the image data, so that the surgical team can perform analyzing and operation according to the image displayed on the display.

1 FIG. 61 62 63 61 50 62 63 10 10 Preferably, there are at least three displays, and at least two of the at least three displays are oriented differently. As shown in, the display includes a first display, a second display, and a third display. The first displayis fixed on a host (including the controller), and the interface is placed upward, so that the medical staff standing next to the host can observe from this angle. The second displayand the third displayare respectively arranged on both sides of the support, and are symmetrically arranged, and the medical staff on both sides of the supportviews the interface. This makes it easier for different medical staff to view the same observation object from different angles, and facilitates teamwork to complete the surgery.

80 10 10 81 81 100 In one embodiment of the present application, a basemay be provided below the supportfor fixing the host and the support, and a rollermay be provided below the base, preferably an automatic rollermay be selected, to facilitate the overall movement and positioning of the entire imaging system.

8 FIG. 8 FIG. 8 FIG. 1 FIG. 100 810 50 50 20 820 20 850 40 830 840 810 20 820 20 20 810 20 850 840 50 50 50 50 With reference to,is a schematic diagram of system architecture of an imaging systemof the embodiment of the present application. As shown in, the architecture diagram includes a processor(corresponding to a controller, and the processor may be a part of the controller), and a mechanical armcontrol unit(corresponding to a mechanical arm), an imaging unit(corresponding to an imaging deviceof), a light source control unit(corresponding to a light source providing device), and a display unit(corresponding to a display) that are respectively connected to the processor. The mechanical armcontrol unitmay be a combination of the mechanical armand a plurality of drive units. For example, the drive unit may be a part of the mechanical arm. The processoradjusts the free angle of the mechanical armby controlling the drive unit. The drive unit may be a drive unit such as a motor, a cylinder, or a motor. The imaging unitmay include an imaging camera, etc. The light source providing device may include an LED. In addition, the display unitmay include a display controllerand a display screen. The display controlleris connected to the processor. The processor obtains image data of the observation object captured by the imaging unit and sends the image data to the display controller. The display controllerprocesses and renders the image, and finally displays the image corresponding to the observation object on the display screen.

100 100 The present application further discloses an imaging method for surgical implantation. The method is applied to the imaging systemfor surgical implantation described in the above embodiment. The specific structure of the imaging systemis described in detail in the above embodiment. Details are not repeated herein.

9 FIG. 910 940 As shown in, the method specifically includes S-S.

910 50 30 30 30 S, the controllerobtains a position and a direction of the retractor. In the embodiment of the present application, the position and the direction of the retractorcan be obtained by a distance sensor, such as an infrared sensor, or the position and the direction of the retractorcan be obtained by collecting an image by using a depth camera. This is not limited in the present application.

920 50 20 30 40 30 S, the controlleradjusts a position and a direction of the mechanical armaccording to the position and the direction of the retractor, so that an obtaining end of the imaging deviceis aligned with a channel established by the retractor.

930 40 S, the imaging deviceobtains a light signal reflected by the observation object through the channel, and performs imaging by using the reflected light signal.

20 40 30 According to the imaging method for surgical implantation of the embodiment of the present application, the direction and the position of the mechanical armare automatically controlled, so that the imaging devicefollows the position and the direction of the retractorto perform shooting, and it is convenient to obtain an image; and the mechanical arm can bypass the surgical area, and it is convenient to perform the surgery.

40 In one embodiment of the present application, the imaging deviceobtains a light signal of a preset wavelength from the reflected light signal, and performs imaging based on the light signal of the preset wavelength.

40 According to one embodiment of the present application, the light source provider emits a light signal, and transmits some or all of the light signals to the observation object through the channel, so that the imaging deviceobtains the light signal reflected by the observation object, improves the clarity of the shooting, and remotely transmits the light signal, to avoid a case in which the light affects the surgical operator.

50 40 In addition, the controllerobtains imaging data obtained by the imaging device, and sends the imaging data to a plurality of displays, so that the display displays the image corresponding to the observation object, and it is convenient for the medical staff to observe the image. The display can be provided at different positions, so that the medical staff at different positions can observe the image of the same observation object on different displays, and it is conducive to performing the surgery.

100 The functions of each component and the imaging process are described in the above embodiment. For details, refer to the specific description of the imaging system. Details are not repeated herein.

40 40 40 According to the imaging method of the embodiment of the present application, the image of the observation object is obtained by controlling the mechanical arm to drive the imaging device, and a light source is remotely provided for the imaging deviceby the light source providing device, so that the imaging devicecan also clearly obtain the image of the observation object at a longer distance. Compared with the existing microscope, in the present application, the light source is provided relatively closer to the surgical position, and the lighting efficiency is greatly improved, so that the image of the observation object can still be clearly obtained when a working distance between the lens of the microscope and the surgical working area is more than 1 meter, and it is convenient to perform the surgery.

Unless otherwise defined, the technical terms or scientific terms used in the present application should be the common meaning understood by people with general skills in the field to which the present application belongs. The words “first”, “second” and similar words used in the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. The words “joint” or “connection” and similar words are not limited to a physical or mechanical connection, but may include an electrical connection, whether direct or indirect. “Up”, “down”, “left”, “right”, etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship also changes accordingly.

The above content is the preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be considered within the scope of protection of the present application.